Re: [Ext] RE: Help setting up coordinated motions for Galil controller

[Mark Clift via Tech-talk <tech-talk at aps.anl.gov>]

Hi Jesse,

Yes, when moving a GalilCSAxis (not jog), backlash and retries are supported on both the GalilCSAxis and the GalilAxis that are members of the GalilCSAxis group.  Both GalilCSAxis and GalilAxis have an associated motor record.  If backlash and retries are enabled on both the GalilCSAxis and GalilAxis members, it could be doubling up somewhat (redundant).  Recommend having backlash and retries set on either the GalilCSAxis or the GalilAxis members (if required at all), but not both.

For both GalilCSAxis and GalilAxis, backlash and retries can be configured through the motor record as normal.  Retries can be turned off by setting the appropriate motor record RTRY field to 0.  Backlash can be turned off by setting the appropriate motor record BDST field to 0.

An implementation detail is that GalilCSAxis move completion is held up until the GalilAxis members complete.  This means, all the member GalilAxis will set their DMOV 1 first, and the GalilCSAxis will set it's DMOV 1 last.  The move completion rule only applies for CSAxis moves.

Kind regards,

Mark Clift